Kinetostatic Modeling of Redundantly Actuated Planar Compliant Parallel Mechanism

  • Miao Yang
  • Chi Zhang
  • Hongtao Yu
  • Xiaolu Huang
  • Guilin YangEmail author
  • Zaojun FangEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11740)


This paper presents the concept design of a novel three degrees of freedom (DOF) redundantly actuated planar compliant parallel mechanism (CPM). The developed CPM is a 4-PPR configuration mechanism based on leaf type flexures and actuated by four voice coil motors (VCMs). The distribute compliance design and the rotation-symmetric configuration guarantees large motion range, translation decouple as well as high structural compactness of the CPM. The stiffness model and kinetostatic model of the CPM are established via the compliance matrix method. Finite element analysis (FEA) is conducted to validate the established models. Numerical results show that the proposed CPM can achieve a workspace of ±2.5 mm × ± 2.5 mm × ± 2.5° in its three working directions. Moreover, the actuation forces of VCMs in the CPM can be decreased significantly by apply the redundantly actuated configuration.


Compliant mechanism Redundant actuation Stiffness modeling Kinetostatics 



The authors acknowledge funding provided by the NSFC-Zhejiang Joint Fund for the Integration of Industrialization and Informatization (U1609206, U1509202), China Postdoctoral Science Foundation under Grant 2019M652152, Natural Science Foundation of Zhejiang Province (2018C01072), and Innovation Team of Key Components and Key Technology for the New Generation Robot under Grant 2016B10016 for this research.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Ningbo Institute of Materials Technology and Engineering, Chinese Academy of SciencesNingboChina
  2. 2.Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment TechnologyNingboChina
  3. 3.College of Materials Science and Opto-ElectronicUniversity of Chinese Academy of SciencesBeijingChina

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